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Robot based on task-space dynamical model

dc.creatorYime E.
dc.creatorSaltaren R.
dc.creatorGarcia C.
dc.creatorSabater J.M.
dc.date.accessioned2020-03-26T16:32:57Z
dc.date.available2020-03-26T16:32:57Z
dc.date.issued2011
dc.identifier.citationIET Control Theory and Applications; Vol. 5, Núm. 18; pp. 2111-2119
dc.identifier.issn17518644
dc.identifier.urihttps://hdl.handle.net/20.500.12585/9104
dc.description.abstractThis study deals with the dynamic modelling and task space control of the Stewart-Gough platform. The dynamic equations were obtained using the virtual work approach, and include all the 13 presented in the platform, that is, two bodies per each leg and the upper ring. The results show some similarities in the dynamic model of serial and parallel robots, making it possible to extend the control theory of serial robot to the Stewart-Gough platform. To show this, an adaptive control law is proposed to control the parallel platform. The law is obtained from the dynamical equation and its performance is tested using a sinusoidal path for position and orientation of the upper ring of parallel robot. Some additional simulations are carried out to demonstrate a well-behaved controller. © 2011 The Institution of Engineering and Technology.eng
dc.format.mediumRecurso electrónico
dc.format.mimetypeapplication/pdf
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.sourcehttps://www.scopus.com/inward/record.uri?eid=2-s2.0-81855169718&doi=10.1049%2fiet-cta.2010.0622&partnerID=40&md5=eeff7ee060ee206f3c4d025a8b142161
dc.titleRobot based on task-space dynamical model
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datacite.rightshttp://purl.org/coar/access_right/c_16ec
oaire.resourceTypehttp://purl.org/coar/resource_type/c_6501
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.driverinfo:eu-repo/semantics/article
dc.type.hasversioninfo:eu-repo/semantics/publishedVersion
dc.identifier.doi10.1049/iet-cta.2010.0622
dc.subject.keywordsAdaptive control law
dc.subject.keywordsDynamic equations
dc.subject.keywordsDynamic modelling
dc.subject.keywordsDynamical equation
dc.subject.keywordsDynamical model
dc.subject.keywordsParallel platforms
dc.subject.keywordsParallel robots
dc.subject.keywordsSerial robots
dc.subject.keywordsStewart-Gough platform
dc.subject.keywordsTask-space control
dc.subject.keywordsVirtual works
dc.subject.keywordsControl theory
dc.subject.keywordsRobots
dc.rights.accessrightsinfo:eu-repo/semantics/restrictedAccess
dc.rights.ccAtribución-NoComercial 4.0 Internacional
dc.identifier.instnameUniversidad Tecnológica de Bolívar
dc.identifier.reponameRepositorio UTB
dc.type.spaArtículo
dc.identifier.orcid22837432800
dc.identifier.orcid6506558366
dc.identifier.orcid7401486209
dc.identifier.orcid7005856468


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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.